Penguinator
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Motor-Controller
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base: Penguinator:6988019971d68539c0d0494bfdede54a4363797a
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Penguinator:stable
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compare: Penguinator:252037532bd181dbffe1d3072c945c024fa0cc59
Branches Tags
Penguinator:stable

2 Commits
6988019971 ... 252037532b

Author SHA1 Message Date
Penguin 252037532b rs485 working. had to switch to different pins because something was running some frequency on d13. annoyed. 2 years ago
Penguin 4751793db5 rs485 not working as expected 2 years ago
11 changed files with 3523 additions and 432 deletions
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34
.gdb_history
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@ -67,3 +67,37 @@ r
q
q
q
q
q
b 392
r
s
s
c
p huart1_rxc
s
s
s
c
q
q
q
b 392
r
c
c
del
b main()
b 124
r
n
q
b 392
r
p huart1_rxc
c
p huart1_rxc
p huart1_rxc
c
p huart1_rxc
q

2
Core/Inc/main.h
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@ -67,6 +67,8 @@ void setPWM(TIM_HandleTypeDef *timer, uint32_t channel, uint8_t dc_percent);
#define m1_dir_GPIO_Port GPIOA
#define m2_dir_Pin GPIO_PIN_5
#define m2_dir_GPIO_Port GPIOA
#define USART1_DE_Pin GPIO_PIN_12
#define USART1_DE_GPIO_Port GPIOA
#define SWDIO_Pin GPIO_PIN_13
#define SWDIO_GPIO_Port GPIOA
#define SWCLK_Pin GPIO_PIN_14

1
Core/Inc/stm32l4xx_it.h
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@ -55,6 +55,7 @@ void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void USART1_IRQHandler(void);
void USART2_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
/* USER CODE BEGIN EFP */

28
Core/Src/main.c
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@ -52,11 +52,10 @@ UART_HandleTypeDef huart2;
/* USER CODE BEGIN PV */
volatile uint8_t huart2_rxc;
volatile uint8_t huart1_rxc;
static volatile uint32_t sys_time = 0;
static volatile bool b_timer_struck = false;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@ -121,6 +120,8 @@ int main(void)
mc_init(&htim2);
HAL_UART_Receive_IT(&huart2, &huart2_rxc, 1);
HAL_TIM_Base_Start_IT(&htim6);
HAL_UART_Receive_IT(&huart1, &huart1_rxc, 1);
uint16_t motor_degrees = 0;
/* USER CODE END 2 */
@ -185,8 +186,7 @@ void SystemClock_Config(void)
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
@ -253,7 +253,6 @@ static void MX_TIM2_Init(void)
/* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);
}
/**
@ -291,7 +290,6 @@ static void MX_TIM6_Init(void)
/* USER CODE BEGIN TIM6_Init 2 */
/* USER CODE END TIM6_Init 2 */
}
/**
@ -326,7 +324,6 @@ static void MX_USART1_UART_Init(void)
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
@ -361,7 +358,6 @@ static void MX_USART2_UART_Init(void)
/* USER CODE BEGIN USART2_Init 2 */
/* USER CODE END USART2_Init 2 */
}
/**
@ -376,7 +372,6 @@ static void MX_GPIO_Init(void)
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, m1_dir_Pin | m2_dir_Pin, GPIO_PIN_RESET);
@ -387,15 +382,26 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
HAL_UART_Transmit(&huart2, &huart2_rxc, 1, 100);
if (huart == &huart1)
{
HAL_GPIO_WritePin(USART1_DE_GPIO_Port, USART1_DE_Pin, 1);
huart2_rxc = huart1_rxc;
HAL_UART_Transmit(&huart2, &huart2_rxc, 1, 500);
HAL_UART_Receive_IT(&huart1, &huart1_rxc, 1);
HAL_GPIO_WritePin(USART1_DE_GPIO_Port, USART1_DE_Pin, 0);
}
else if (huart == &huart2)
{
HAL_UART_Transmit(&huart1, &huart2_rxc, 1, 100);
HAL_UART_Receive_IT(&huart2, &huart2_rxc, 1);
}
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{

25
Core/Src/stm32l4xx_hal_msp.c
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@ -227,19 +227,22 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
/* Peripheral clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART1 GPIO Configuration
PB3 (JTDO-TRACESWO) ------> USART1_DE
PB6 ------> USART1_TX
PB7 ------> USART1_RX
PA9 ------> USART1_TX
PA10 ------> USART1_RX
PA12 ------> USART1_DE
*/
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10|USART1_DE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
@ -308,12 +311,14 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
__HAL_RCC_USART1_CLK_DISABLE();
/**USART1 GPIO Configuration
PB3 (JTDO-TRACESWO) ------> USART1_DE
PB6 ------> USART1_TX
PB7 ------> USART1_RX
PA9 ------> USART1_TX
PA10 ------> USART1_RX
PA12 ------> USART1_DE
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_3|GPIO_PIN_6|GPIO_PIN_7);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10|USART1_DE_Pin);
/* USART1 interrupt DeInit */
HAL_NVIC_DisableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */

15
Core/Src/stm32l4xx_it.c
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@ -56,6 +56,7 @@
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim6;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
/* USER CODE BEGIN EV */
@ -199,6 +200,20 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32l4xx.s). */
/******************************************************************************/
/**
* @brief This function handles USART1 global interrupt.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
/* USER CODE END USART1_IRQn 1 */
}
/**
* @brief This function handles USART2 global interrupt.
*/

2
Makefile
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@ -1,5 +1,5 @@
##########################################################################################################################
# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Wed Apr 06 17:40:48 CDT 2022]
# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Fri Apr 08 15:05:50 CDT 2022]
##########################################################################################################################
# ------------------------------------------------

304
compile_commands.json
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@ -25,14 +25,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_it.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_it.lst",
"-MFbuild/stm32l4xx_hal_dma.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_dma.lst",
"-o",
"build/stm32l4xx_it.o",
"Core/Src/stm32l4xx_it.c"
"build/stm32l4xx_hal_dma.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Core/Src/stm32l4xx_it.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma.c"
},
{
"arguments": [
@ -66,7 +66,7 @@
"build/stm32l4xx_hal_gpio.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_gpio.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_gpio.c"
},
{
@ -95,14 +95,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_dma_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_dma_ex.lst",
"-MFbuild/stm32l4xx_hal.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal.lst",
"-o",
"build/stm32l4xx_hal_dma_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma_ex.c"
"build/stm32l4xx_hal.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma_ex.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c"
},
{
"arguments": [
@ -130,14 +130,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/motor_controller.d",
"-Wa,-a,-ad,-alms=build/motor_controller.lst",
"-MFbuild/stm32l4xx_it.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_it.lst",
"-o",
"build/motor_controller.o",
"shared/devices/motor_controller.c"
"build/stm32l4xx_it.o",
"Core/Src/stm32l4xx_it.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "shared/devices/motor_controller.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Core/Src/stm32l4xx_it.c"
},
{
"arguments": [
@ -165,14 +165,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_msp.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_msp.lst",
"-MFbuild/stm32l4xx_hal_rcc.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_rcc.lst",
"-o",
"build/stm32l4xx_hal_msp.o",
"Core/Src/stm32l4xx_hal_msp.c"
"build/stm32l4xx_hal_rcc.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Core/Src/stm32l4xx_hal_msp.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc.c"
},
{
"arguments": [
@ -200,14 +200,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_i2c.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_i2c.lst",
"-MFbuild/stm32l4xx_hal_tim.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_tim.lst",
"-o",
"build/stm32l4xx_hal_i2c.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c.c"
"build/stm32l4xx_hal_tim.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim.c"
},
{
"arguments": [
@ -235,14 +235,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal.lst",
"-MFbuild/putil.d",
"-Wa,-a,-ad,-alms=build/putil.lst",
"-o",
"build/stm32l4xx_hal.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c"
"build/putil.o",
"shared/util/putil.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "shared/util/putil.c"
},
{
"arguments": [
@ -270,14 +270,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_tim_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_tim_ex.lst",
"-MFbuild/system_stm32l4xx.d",
"-Wa,-a,-ad,-alms=build/system_stm32l4xx.lst",
"-o",
"build/stm32l4xx_hal_tim_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim_ex.c"
"build/system_stm32l4xx.o",
"Core/Src/system_stm32l4xx.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim_ex.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Core/Src/system_stm32l4xx.c"
},
{
"arguments": [
@ -305,21 +305,19 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_pwr.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_pwr.lst",
"-MFbuild/motor_controller.d",
"-Wa,-a,-ad,-alms=build/motor_controller.lst",
"-o",
"build/stm32l4xx_hal_pwr.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr.c"
"build/motor_controller.o",
"shared/devices/motor_controller.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "shared/devices/motor_controller.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-x",
"assembler-with-cpp",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
@ -342,13 +340,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/startup_stm32l432xx.d",
"-MFbuild/stm32l4xx_hal_uart_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_uart_ex.lst",
"-o",
"build/startup_stm32l432xx.o",
"startup_stm32l432xx.s"
"build/stm32l4xx_hal_uart_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart_ex.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "startup_stm32l432xx.s"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart_ex.c"
},
{
"arguments": [
@ -376,14 +375,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_uart.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_uart.lst",
"-MFbuild/stm32l4xx_hal_pwr_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_pwr_ex.lst",
"-o",
"build/stm32l4xx_hal_uart.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c"
"build/stm32l4xx_hal_pwr_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr_ex.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr_ex.c"
},
{
"arguments": [
@ -411,14 +410,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_flash_ramfunc.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_flash_ramfunc.lst",
"-MFbuild/stm32l4xx_hal_i2c_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_i2c_ex.lst",
"-o",
"build/stm32l4xx_hal_flash_ramfunc.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ramfunc.c"
"build/stm32l4xx_hal_i2c_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c_ex.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ramfunc.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c_ex.c"
},
{
"arguments": [
@ -446,14 +445,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_rcc.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_rcc.lst",
"-MFbuild/stm32l4xx_hal_flash.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_flash.lst",
"-o",
"build/stm32l4xx_hal_rcc.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc.c"
"build/stm32l4xx_hal_flash.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash.c"
},
{
"arguments": [
@ -481,14 +480,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_flash_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_flash_ex.lst",
"-MFbuild/stm32l4xx_hal_flash_ramfunc.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_flash_ramfunc.lst",
"-o",
"build/stm32l4xx_hal_flash_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ex.c"
"build/stm32l4xx_hal_flash_ramfunc.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ramfunc.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ex.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ramfunc.c"
},
{
"arguments": [
@ -516,14 +515,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_cortex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_cortex.lst",
"-MFbuild/stm32l4xx_hal_dma_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_dma_ex.lst",
"-o",
"build/stm32l4xx_hal_cortex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_cortex.c"
"build/stm32l4xx_hal_dma_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma_ex.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_cortex.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma_ex.c"
},
{
"arguments": [
@ -551,14 +550,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_pwr_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_pwr_ex.lst",
"-MFbuild/main.d",
"-Wa,-a,-ad,-alms=build/main.lst",
"-o",
"build/stm32l4xx_hal_pwr_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr_ex.c"
"build/main.o",
"Core/Src/main.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr_ex.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Core/Src/main.c"
},
{
"arguments": [
@ -586,14 +585,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_dma.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_dma.lst",
"-MFbuild/stm32l4xx_hal_cortex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_cortex.lst",
"-o",
"build/stm32l4xx_hal_dma.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma.c"
"build/stm32l4xx_hal_cortex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_cortex.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_cortex.c"
},
{
"arguments": [
@ -621,14 +620,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_uart_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_uart_ex.lst",
"-MFbuild/stm32l4xx_hal_flash_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_flash_ex.lst",
"-o",
"build/stm32l4xx_hal_uart_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart_ex.c"
"build/stm32l4xx_hal_flash_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ex.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart_ex.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ex.c"
},
{
"arguments": [
@ -656,14 +655,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_exti.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_exti.lst",
"-MFbuild/stm32l4xx_hal_rcc_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_rcc_ex.lst",
"-o",
"build/stm32l4xx_hal_exti.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_exti.c"
"build/stm32l4xx_hal_rcc_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc_ex.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_exti.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc_ex.c"
},
{
"arguments": [
@ -691,14 +690,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/putil.d",
"-Wa,-a,-ad,-alms=build/putil.lst",
"-MFbuild/stm32l4xx_hal_exti.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_exti.lst",
"-o",
"build/putil.o",
"shared/util/putil.c"
"build/stm32l4xx_hal_exti.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_exti.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "shared/util/putil.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_exti.c"
},
{
"arguments": [
@ -726,14 +725,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_tim.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_tim.lst",
"-MFbuild/stm32l4xx_hal_i2c.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_i2c.lst",
"-o",
"build/stm32l4xx_hal_tim.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim.c"
"build/stm32l4xx_hal_i2c.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c.c"
},
{
"arguments": [
@ -761,14 +760,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_i2c_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_i2c_ex.lst",
"-MFbuild/stm32l4xx_hal_msp.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_msp.lst",
"-o",
"build/stm32l4xx_hal_i2c_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c_ex.c"
"build/stm32l4xx_hal_msp.o",
"Core/Src/stm32l4xx_hal_msp.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c_ex.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Core/Src/stm32l4xx_hal_msp.c"
},
{
"arguments": [
@ -796,19 +795,21 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_rcc_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_rcc_ex.lst",
"-MFbuild/stm32l4xx_hal_pwr.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_pwr.lst",
"-o",
"build/stm32l4xx_hal_rcc_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc_ex.c"
"build/stm32l4xx_hal_pwr.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc_ex.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-x",
"assembler-with-cpp",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
@ -831,14 +832,13 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/main.d",
"-Wa,-a,-ad,-alms=build/main.lst",
"-MFbuild/startup_stm32l432xx.d",
"-o",
"build/main.o",
"Core/Src/main.c"
"build/startup_stm32l432xx.o",
"startup_stm32l432xx.s"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Core/Src/main.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "startup_stm32l432xx.s"
},
{
"arguments": [
@ -866,14 +866,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/system_stm32l4xx.d",
"-Wa,-a,-ad,-alms=build/system_stm32l4xx.lst",
"-MFbuild/stm32l4xx_hal_uart.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_uart.lst",
"-o",
"build/system_stm32l4xx.o",
"Core/Src/system_stm32l4xx.c"
"build/stm32l4xx_hal_uart.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Core/Src/system_stm32l4xx.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c"
},
{
"arguments": [
@ -901,13 +901,13 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_flash.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_flash.lst",
"-MFbuild/stm32l4xx_hal_tim_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_tim_ex.lst",
"-o",
"build/stm32l4xx_hal_flash.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash.c"
"build/stm32l4xx_hal_tim_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim_ex.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash.c"
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim_ex.c"
}
]

3024
gdb.txt
View File

File diff suppressed because it is too large Load Diff

32
motor_controller.ioc
Unescape Escape View File

@ -15,10 +15,10 @@ Mcu.Name=STM32L432K(B-C)Ux
Mcu.Package=UFQFPN32
Mcu.Pin0=PC14-OSC32_IN (PC14)
Mcu.Pin1=PC15-OSC32_OUT (PC15)
Mcu.Pin10=PA15 (JTDI)
Mcu.Pin11=PB3 (JTDO-TRACESWO)
Mcu.Pin12=PB6
Mcu.Pin13=PB7
Mcu.Pin10=PA12
Mcu.Pin11=PA13 (JTMS-SWDIO)
Mcu.Pin12=PA14 (JTCK-SWCLK)
Mcu.Pin13=PA15 (JTDI)
Mcu.Pin14=VP_SYS_VS_Systick
Mcu.Pin15=VP_TIM6_VS_ClockSourceINT
Mcu.Pin2=PA0
@ -27,8 +27,8 @@ Mcu.Pin4=PA2
Mcu.Pin5=PA3
Mcu.Pin6=PA4
Mcu.Pin7=PA5
Mcu.Pin8=PA13 (JTMS-SWDIO)
Mcu.Pin9=PA14 (JTCK-SWCLK)
Mcu.Pin8=PA9
Mcu.Pin9=PA10
Mcu.PinsNb=16
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
@ -46,6 +46,7 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
NVIC.TIM6_DAC_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
PA0.GPIOParameters=GPIO_Label
@ -54,6 +55,14 @@ PA0.Locked=true
PA0.Mode=HSE-External-Clock-Source-for-LittleOrca
PA0.Signal=RCC_CK_IN
PA1.Signal=S_TIM2_CH2
PA10.Locked=true
PA10.Mode=Asynchronous
PA10.Signal=USART1_RX
PA12.GPIOParameters=GPIO_Label
PA12.GPIO_Label=USART1_DE
PA12.Locked=true
PA12.Mode=Hardware Flow Control (RS485)
PA12.Signal=USART1_DE
PA13\ (JTMS-SWDIO).GPIOParameters=GPIO_Label
PA13\ (JTMS-SWDIO).GPIO_Label=SWDIO
PA13\ (JTMS-SWDIO).Locked=true
@ -83,14 +92,9 @@ PA5.GPIOParameters=GPIO_Label
PA5.GPIO_Label=m2_dir
PA5.Locked=true
PA5.Signal=GPIO_Output
PB3\ (JTDO-TRACESWO).Locked=true
PB3\ (JTDO-TRACESWO).Mode=Hardware Flow Control (RS485)
PB3\ (JTDO-TRACESWO).Signal=USART1_DE
PB6.Mode=Asynchronous
PB6.Signal=USART1_TX
PB7.Locked=true
PB7.Mode=Asynchronous
PB7.Signal=USART1_RX
PA9.Locked=true
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
PC14-OSC32_IN\ (PC14).Locked=true
PC14-OSC32_IN\ (PC14).Mode=LSE-External-Oscillator
PC14-OSC32_IN\ (PC14).Signal=RCC_OSC32_IN

12
shared/devices/motor_controller.c
Unescape Escape View File

@ -1,7 +1,7 @@
#include "motor_controller.h"
#include <math.h>
#include "putil.h"
#include "stm32l4xx_hal_tim.h"
#include <math.h>
static TIM_HandleTypeDef *_motor_timer = NULL;
void mc_init(TIM_HandleTypeDef *tim)
@ -15,11 +15,11 @@ void mc_service(uint16_t degrees, uint8_t speed)
{
float right_pwm = cos(((float)degrees * (3.1415 / 180.0f)));
float left_pwm = right_pwm;
PDEBUG("| DEGREES | COS | SIN | \n");
PDEBUG("| %7d | %-5.3f | %-5.3f | \n",
(int)degrees,
right_pwm,
right_pwm);
// PDEBUG("| DEGREES | COS | SIN | \n");
// PDEBUG("| %7d | %-5.3f | %-5.3f | \n",
// (int)degrees,
// right_pwm,
// right_pwm);
HAL_GPIO_WritePin(m1_dir_GPIO_Port, m1_dir_Pin, right_pwm >= 0 ? 0 : 1);
HAL_GPIO_WritePin(m2_dir_GPIO_Port, m2_dir_Pin, left_pwm >= 0 ? 0 : 1);

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